U.S. patent number 10,876,273 [Application Number 15/924,661] was granted by the patent office on 2020-12-29 for construction machine.
This patent grant is currently assigned to KOBELCO CONSTRUCTION MACHINERY CO., LTD.. The grantee listed for this patent is KOBELCO CONSTRUCTION MACHINERY CO., LTD.. Invention is credited to Yusuke Kamimura, Akira Kinoshita, Masatoshi Kozui.
![](/patent/grant/10876273/US10876273-20201229-D00000.png)
![](/patent/grant/10876273/US10876273-20201229-D00001.png)
![](/patent/grant/10876273/US10876273-20201229-D00002.png)
![](/patent/grant/10876273/US10876273-20201229-D00003.png)
![](/patent/grant/10876273/US10876273-20201229-D00004.png)
![](/patent/grant/10876273/US10876273-20201229-D00005.png)
![](/patent/grant/10876273/US10876273-20201229-D00006.png)
![](/patent/grant/10876273/US10876273-20201229-D00007.png)
![](/patent/grant/10876273/US10876273-20201229-D00008.png)
![](/patent/grant/10876273/US10876273-20201229-D00009.png)
![](/patent/grant/10876273/US10876273-20201229-D00010.png)
View All Diagrams
United States Patent |
10,876,273 |
Kozui , et al. |
December 29, 2020 |
Construction machine
Abstract
A control section determines a monitoring region, a region
wherein an obstacle is to be monitored, the monitoring region not
including the lower travelling body. The control section changes
the monitoring region so as not to include the lower travelling
body based on a turn angle detected by the turn angle detection
section. The control section limits operation of at least one of
travelling of the lower travelling body and turning of the upper
slewing body when the obstacle detection section detects an
obstacle being present in the monitoring region.
Inventors: |
Kozui; Masatoshi (Hiroshima,
JP), Kamimura; Yusuke (Hiroshima, JP),
Kinoshita; Akira (Hiroshima, JP) |
Applicant: |
Name |
City |
State |
Country |
Type |
KOBELCO CONSTRUCTION MACHINERY CO., LTD. |
Hiroshima |
N/A |
JP |
|
|
Assignee: |
KOBELCO CONSTRUCTION MACHINERY CO.,
LTD. (Hiroshima, JP)
|
Family
ID: |
1000005268467 |
Appl.
No.: |
15/924,661 |
Filed: |
March 19, 2018 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20180274206 A1 |
Sep 27, 2018 |
|
Foreign Application Priority Data
|
|
|
|
|
Mar 22, 2017 [JP] |
|
|
2017-055823 |
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E02F
9/2033 (20130101); E02F 9/26 (20130101); E02F
9/24 (20130101); E02F 9/262 (20130101); E02F
9/123 (20130101) |
Current International
Class: |
E02F
9/24 (20060101); E02F 9/12 (20060101); E02F
9/26 (20060101); E02F 9/20 (20060101) |
Field of
Search: |
;701/50 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
|
|
|
|
|
|
|
2 631 374 |
|
Aug 2013 |
|
EP |
|
2 757 782 |
|
Jul 2014 |
|
EP |
|
2006-257724 |
|
Sep 2006 |
|
JP |
|
2007-023486 |
|
Feb 2007 |
|
JP |
|
2010059653 |
|
Mar 2010 |
|
JP |
|
20150027451 |
|
Mar 2015 |
|
KR |
|
Other References
Visual field assisting device of working machine, Ishimoto
Hidefumi, Japanese Patent Publication No. JP 2010-059653A, English
translation from Google Patents (Year: 2008). cited by examiner
.
Apparatus and method for prevent interference of work device of
Excavator, Jin-Uk Kim, Korean Patent Application No. KR
20150027451A, English translation of specification
from,espacenet.com (Year: 2013). cited by examiner .
Extended European Search Report dated Jul. 30, 2018 in Patent
Application No. 18162200.2. cited by applicant.
|
Primary Examiner: McPherson; James M
Attorney, Agent or Firm: Oblon, McClelland, Maier &
Neustadt, L.L.P.
Claims
The invention claimed is:
1. A construction machine comprising: a lower travelling body; an
upper slewing body turnable with respect to the lower travelling
body; a controller to control travelling of the lower travelling
body, and turning of the upper slewing body with respect to the
lower travelling body; a turn angle detection sensor to detect a
turn angle of the upper slewing body with respect to the lower
travelling body to input a detected turn angle to the control
section; and an obstacle detection sensor attached to the upper
slewing body to detect an obstacle and input a detection result to
the controller, wherein the controller determines a monitoring
region in which an obstacle is to be monitored, the monitoring
region not including the lower travelling body, the controller
changes the monitoring region so as not to include the lower
travelling body in the monitoring region, based on the turn angle
detected by the turn angle detection sensor, the controller limits
operation of at least one of travelling of the lower travelling
body and turning of the upper slewing body when the obstacle
detection sensor detects an obstacle being present in the
monitoring region, and based upon a change in the turn angle
detected by the turn angle detection sensor, the controller changes
the monitoring region to exclude portions of the lower travelling
body that are observed by the obstacle detection sensor.
2. The construction machine according to claim 1, further
comprising a memory which stores, in advance, a plurality of
monitoring region data pieces according to respective turn angles
of the upper slewing body with respect to the lower travelling body
to determine the monitoring region, wherein the controller selects
a monitoring region data piece corresponding to the turn angle
detected by the turn angle detection sensor from the plurality of
monitoring region data pieces stored in the memory to determine the
monitoring region.
3. The construction machine according to claim 2, wherein the
memory stores in advance the plurality of monitoring region data
pieces according to a specification of the lower travelling
body.
4. The construction machine according to claim 2, wherein the
controller generates the plurality of monitoring region data pieces
by causing the obstacle detection sensor to detect the lower
travelling body while causing the upper slewing body to make one
turn, and causes the memory to store the plurality of monitoring
region data pieces generated by the controller.
5. The construction machine according to claim 1, wherein the
obstacle detection sensor is capable of obtaining an image, and the
controller changes an angle of view to thereby changing the
monitoring region, the angle of view indicating a range of the
image obtained by the obstacle detection sensor.
6. The construction machine according to claim 1, wherein the
obstacle detection sensor is capable of obtaining an image; an
angle of view is fixed, the angle of view indicating a range of the
image obtained by the obstacle detection sensor; the controller
determines, as the monitoring region, a region obtained by
excluding an excluded region where the lower travelling body is
present from a detection-allowed region in which the obstacle
detection sensor is able to detect an object; and the controller
changes the monitoring region by changing the excluded region based
on the turn angle detected by the turn angle detection sensor.
Description
TECHNICAL FIELD
The present invention relates to a construction machine.
BACKGROUND ART
Conventional construction machines are recited in, for example,
Japanese Patent Unexamined Publication No. 2007-23486. The
construction machine recited in the above patent literature
includes a contact prevention control device for preventing an
upper slewing body and an obstacle from contacting with each other
under a condition where the obstacle is present in a region which
is hard to be seen from an operator sitting on a driver's seat.
When an obstacle is detected in a collision prevention region set
around the upper slewing body, the contact prevention control
device, which includes a millimeter wave radar as an obstacle
detection section, forcedly stops operation of the upper slewing
body. In other words, in the construction machine recited in the
above literature, when an obstacle intrudes into a monitoring
region around the construction machine (a collision prevention
region in the above literature), operation of the construction
machine in a direction in which the construction machine approaches
the obstacle is limited.
SUMMARY OF INVENTION
With the technique recited in the above literature, even when a
turn angle of an upper slewing body with respect to a lower
travelling body is changed, the above monitoring region does not
change. Therefore, when a turn angle changes, the lower travelling
body might intrude into the monitoring region, so that the lower
travelling body might be determined to be an obstacle. Therefore,
operation of the construction machine might be limited more than
necessary. Additionally, although determination that the lower
travelling body is an obstacle can be avoided by narrowing the
monitoring region, this might cause a failure in detecting an
obstacle even when the obstacle is present in the vicinity of the
lower travelling body. Therefore, the construction machine might
contact the obstacle.
An object of the present invention is to provide a construction
machine capable of suppressing erroneous determination of a lower
travelling body as an obstacle even when a turn angle is changed
and capable of detecting an obstacle being present in the vicinity
of the lower travelling body.
The construction machine of the present invention includes a lower
travelling body, an upper slewing body, a control section, a turn
angle detection section, and an obstacle detection section. The
upper slewing body is turnable with respect to the lower travelling
body. The control section controls travelling of the lower
travelling body, and turning of the upper slewing body with respect
to the lower travelling body. The turn angle detection section
detects a turn angle of the upper slewing body with respect to the
lower travelling body to input the detected turn angle to the
control section. The obstacle detection section is attached to the
upper slewing body to detect an obstacle and input a detection
result to the control section. The control section determines a
monitoring region in which an obstacle is to be monitored, the
monitoring region not including the lower travelling body. The
control section changes the monitoring region so as not to include
the lower travelling body in the monitoring region, based on the
turn angle detected by the turn angle detection section. The
control section limits operation of at least one of travelling of
the lower travelling body and turning of the upper slewing body
when the obstacle detection section detects an obstacle being
present in the monitoring region.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is a view of a construction machine seen from above;
FIG. 2 is a block diagram showing a control system provided in the
construction machine shown in FIG. 1;
FIG. 3 is a flow chart of operation of the construction machine
shown in FIG. 1;
FIG. 4 is a view corresponding to FIG. 1, in which view a turn
angle .alpha. shown in FIG. 1 is 0.degree.;
FIG. 5 is a view of the construction machine shown in FIG. 1 seen
from an upper slewing body rear side Xb2;
FIG. 6 is a view corresponding to FIG. 1, in which view the turn
angle .alpha. shown in FIG. 1 is 45.degree.;
FIG. 7 is a view corresponding to FIG. 5, in which view the turn
angle .alpha. shown in FIG. 1 is 45.degree.;
FIG. 8 is a view corresponding to FIG. 1, in which view the turn
angle .alpha. shown in FIG. 1 is 90.degree.;
FIG. 9 is a view corresponding to FIG. 5, in which view the turn
angle .alpha. shown in FIG. 1 is 90.degree.;
FIG. 10 is a view of a second embodiment, which view corresponds to
FIG. 4;
FIG. 11 is a view of the second embodiment, which view corresponds
to FIG. 5;
FIG. 12 is a view of the second embodiment, which view corresponds
to FIG. 6;
FIG. 13 is a view of the second embodiment, which view corresponds
to FIG. 7;
FIG. 14 is a graph related to a ranging point P shown in FIG. 10;
and
FIG. 15 is a view of a third embodiment, which view corresponds to
FIG. 4.
DESCRIPTION OF EMBODIMENTS
First Embodiment
With reference to FIGS. 1 to 9, a construction machine 1 of a first
embodiment will be described.
The construction machine 1, which is a machine that conducts work
such as construction work and is a machine that conducts work such
as digging work, is, for example, a shovel, or a hydraulic
excavator. The construction machine 1 includes a lower travelling
body 10, an upper slewing body 20, an upper attachment 30, and a
control system 40 (see FIG. 2).
The lower travelling body 10 is a part of the construction machine
1 which travels on the ground. As shown in FIG. 5, the lower
travelling body 10 includes a lower main body 11 (a main body
portion), and a pair of right and left crawlers 13. To the lower
main body 11, a lower attachment (structure) such as a dozer may be
attached in some cases. The lower attachment is included in the
lower travelling body 10. The right and left crawlers 13 are
attached to a left side portion and a right side portion of the
lower main body 11. As shown in FIG. 1, directions in which the
respective crawlers 13 extend are considered to be a lower
travelling body front-rear direction Xa. In the lower travelling
body front-rear direction Xa, one side (or one direction) is
considered to be a lower travelling body front side Xa1 and an
opposite side thereto is considered to be a lower travelling body
rear side Xa2. An actuator which operates each of the pair of right
and left crawlers 13, for example, a travelling motor formed with a
hydraulic motor, is provided in a part of the lower travelling body
10 on the lower travelling body rear side Xa2.
The upper slewing body 20 is attached to the lower travelling body
10 so as to be turnable around a center of turn O with respect to
the lower travelling body 10. The lower travelling body 10 is
provided with a turning device which rotatably supports the upper
slewing body 20. The upper slewing body 20 includes an upper main
body 21, a cabin 23, and a counter weight 25. The upper attachment
30 is attached to the upper slewing body 20. The upper attachment
30 and the counter weight 25 are located to be spaced apart in an
upper slewing body front-rear direction Xb. A direction of a
rotation axis of the upper slewing body 20 with respect to the
lower travelling body 10 is set to be an up-down direction Z. In
the up-down direction Z, a side (or a direction) directing from the
lower travelling body 10 toward the upper slewing body 20 is set to
be an upper side Z1 and a side opposite thereto is set to be a
lower side Z2. A side orthogonal to the up-down direction Z and
directing from the counter weight 25 to the upper attachment 30 is
set to be an upper slewing body front side Xb1 in the upper slewing
body front-rear direction Xb, and a side opposite thereto is set to
be an upper slewing body rear side Xb2 in the upper slewing body
front-rear direction Xb. A direction orthogonal to the up-down
direction Z and to the upper slewing body front-rear direction Xb
is set to be an upper slewing body lateral direction Yb. In the
upper slewing body lateral direction Yb, a left side when viewed
from the upper slewing body rear side Xb2 to the upper slewing body
front side Xb1 is set to be an upper slewing body left side Yb1,
and a right side is set to be an upper slewing body right side
Yb2.
The upper main body 21 is a main body part of the upper slewing
body 20. The upper main body 21 is mounted with a device such as an
engine (not shown). The cabin 23 is a part in which an operator (an
operator of the construction machine 1) drives the construction
machine 1 (when expressed in a different way, a chamber or a
section). For example, the cabin 23 is attached to an outer side
part of the upper main body 21 in the upper slewing body lateral
direction Yb (e.g. the upper slewing body left side Yb1 part),
which part is also an upper slewing body front side Xb1 part of the
upper main body 21. The counter weight 25 is a weight for balancing
mass of the construction machine 1 in the upper slewing body
front-rear direction Xb. The counter weight 25 is attached to an
upper slewing body rear side Xb2 part of the upper main body 21.
The upper attachment 30 is a device attached to, for example, the
upper slewing body front side Xb1 part of the upper main body 21
for conducting work such as digging work. For example, the upper
attachment 30 includes a boom 30a, an arm 30b, and a bucket
30c.
The control system 40 (control line) (see FIG. 2) detects an
obstacle around the construction machine 1 to limit operation of
the construction machine 1. As shown in FIG. 2, the control system
40 includes a controller 40c (computation unit), a turn angle
detection section 45, an obstacle detection section 50, a display
section 61, and an electromagnetic proportional valve 63. The
controller 40c includes a control section 41 and a storage section
43.
The control section 41 conducts input and output, computation
(calculation, determination, etc.), control, and the like. The
control section 41 controls travelling of the lower travelling body
10 (see FIG. 1), and turning of the upper slewing body 20 (see FIG.
1) with respect to the lower travelling body 10.
The storage section 43 stores information. The storage section 43
is a memory region of the controller 40c. The storage section 43
stores data (e.g. structure data, design data, and lower travelling
body information) related to a structure of the lower travelling
body 10 (sec FIG. 1). The storage section 43 stores a plurality of
monitoring region data pieces RD as data related to a monitoring
region R below.
As shown in FIG. 1, the turn angle detection section 45 detects a
turn angle .alpha. of the upper slewing body 20 with respect to the
lower travelling body 10. The turn angle .alpha. is an angle (e.g.
clockwise rotation angle) of a line segment L20 to a line segment
L10 when viewed from the up-down direction Z. The line segment L10
extends from the center of turn O to the lower travelling body
front side Xa1. The line segment L20 extends from the center of
turn O to the upper slewing body front side Xb1. The turn angle
detection section 45 shown in FIG. 5 is an angle sensor. The turn
angle detection section 45 inputs a detection result (a detected
turn angle .alpha.) to the control section 41.
As shown in FIG. 1, the obstacle detection section 50 detects an
object around the construction machine 1. The obstacle detection
section 50 is capable of detecting an obstacle (when expressed in a
different way, a detection target or a sensing target) in the
monitoring region R. The obstacle detection section 50 is attached
to the upper slewing body 20, for example, to an upper surface of
the upper slewing body 20 (a surface on the upper side Z1). The
obstacle detection section 50 may be attached to a side surface of
the upper slewing body 20 (an outer side surface in the upper
slewing body lateral direction Yb) or may be attached to a rear
surface of the upper slewing body 20 (a surface on the upper
slewing body rear side Xb2). As shown in FIG. 5, the obstacle
detection section 50 is arranged more to the upper side Z1 than the
lower travelling body 10.
As shown in FIG. 4, the obstacle detection section 50 includes
sensors provided at, for example, three positions, that is, a left
side sensor 51, a right side sensor 52, and a rear side sensor 53.
The left side sensor 51, the right side sensor 52, and the rear
side sensor 53 are each a ranging sensor. The left side sensor 51,
the right side sensor 52, and the rear side sensor 53 are each an
optical sensor, for example, an infrared sensor, or a sensor using
laser light. The left side sensor 51, the right side sensor 52, and
the rear side sensor 53 are each a sensor which calculates a
distance from an irradiation device to an object based on time from
when the irradiation device radiates light to when light reflected
by a ranging target is caught by a light receiving device. The left
side sensor 51, the right side sensor 52, and the rear side sensor
53 are each a three-dimensional ranging sensor, which is a sensor
capable of obtaining an image and a distance. The left side sensor
51, the right side sensor 52, and the rear side sensor 53 are each,
for example, an infrared laser ranging sensor, or an infrared time
of flight (TOF) sensor. The left side sensor 51, the right side
sensor 52, and the rear side sensor 53 each input a detection
result (an image and a distance) to the control section 41 (see
FIG. 2).
The left side sensor 51 is attached to an end portion on the upper
slewing body left side Yb1 of the upper main body 21. An end
portion represents an end and a part surrounding thereof (the same
hereinafter). The right side sensor 52 is attached to an end
portion on the upper slewing body right side Yb2 of the upper main
body 21. The rear side sensor 53 is attached to an end portion on
the upper slewing body rear side Xb2 of the upper slewing body 20,
for example, attached to an end portion on the upper slewing body
rear side Xb2 of the counter weight 25 (see FIG. 1). The number and
arrangement of sensors forming the obstacle detection section 50
can be modified.
The display section 61 displays information such as a detection
result of the obstacle detection section 50 shown in FIG. 2. The
display section 61, which is arranged, for example, in the cabin 23
(see FIG. 1), is, for example, an instrument display. The display
section 61 displays information according to a command input from
the control section 41.
The electromagnetic proportional valve 63 is a valve which controls
operation of the construction machine 1 (see FIG. 1). The
electromagnetic proportional valve 63 includes a valve which
controls travelling of the lower travelling body 10 (see FIG. 1),
and a valve which controls turning of the upper slewing body 20
(see FIG. 1) with respect to the lower travelling body 10. The
electromagnetic proportional valve 63 operates according to a
command input from the control section 41.
(Operation)
With reference to the flow chart shown in FIG. 3, operation of the
construction machine 1 (see FIG. 1) will be described. In Step S1,
the turn angle detection section 45 shown in FIG. 2 detects the
turn angle .alpha. and inputs a detection result to the control
section 41.
In Step S3 (see FIG. 3), the control section 41 determines a range
of the monitoring region R shown in FIG. 1 based on the turn angle
.alpha.. Details of this step are as follows.
(Monitoring Region R)
The monitoring region R is a region in which an obstacle is to be
monitored by the construction machine 1. The monitoring region R,
when expressed in a different way, is an obstacle monitoring
region, an obstacle sensing region, or a contact prevention region.
In a case where an obstacle is present in the monitoring region R,
when the construction machine 1 operates, the construction machine
1 might collide (or contact) with the obstacle. The monitoring
region R is determined (or set) at a position and in a range which
enable suppression of such collision.
The monitoring region R is included in a detection-allowed region D
which is a region in which the obstacle detection section 50 is
allowed to detect an object. The monitoring region R may be equal
to the detection-allowed region D or be narrower than the
detection-allowed region D (e.g. see a second embodiment).
The monitoring region R is set in the surrounding of the
construction machine 1 and is set in the vicinity of the
construction machine 1. The monitoring region R is set to be a
region that cannot be visually checked directly by an operator in
the cabin 23. The monitoring region R can be set to be a region
that can be visually checked directly by an operator. The
monitoring region R is divided into, for example, a left side
monitoring region R1, a right side monitoring region R2, and a rear
side monitoring region R3. The left side monitoring region R1 is
the monitoring region R located more to the upper slewing body left
side Yb1 than the upper slewing body 20 and is a region in which
object detection is conducted by the left side sensor 51. The left
side monitoring region R1 can be equal to a region in which object
detection is conducted by the left side sensor 51 or be narrower
than the region. The right side monitoring region R2 is the
monitoring region R located more to the upper slewing body right
side Yb2 than the upper slewing body 20 and is a region in which
object detection is conducted by the right side sensor 52. The
right side monitoring region R2 can be equal to a region in which
object detection is conducted by the right side sensor 52 or be
narrower than the region. The rear side monitoring region R3 is the
monitoring region R located more to the upper slewing body rear
side Xb2 than the upper slewing body 20 and is a region in which
object detection is conducted by the rear side sensor 53. The rear
side monitoring region R3 can be equal to a region in which object
detection is conducted by the rear side sensor 53 or be narrower
than the region.
Each monitoring region R, that is, each of the left side monitoring
region R1, the right side monitoring region R2, and the rear side
monitoring region R3 does not include the lower travelling body 10
as shown in FIG. 5. Expressed in a different way, the lower
travelling body 10 is excluded from the monitoring region R. The
monitoring region R does not include the pair of right and left
crawlers 13. Expressed in a different way, the lower travelling
body 10 is excluded from the monitoring region R. When a structure
is attached to the lower main body 11, the structure attached to
the lower main body 11 is not included in the monitoring region R.
At least a part of the monitoring region R is set to be more to the
lower side Z2 than an upper surface of the upper slewing body 20
(i.e. a surface on which the obstacle detection section 50 is
provided). The monitoring region R is set to be more to the upper
side Z1 than the ground, that is set to be at the foot of the
construction machine 1. The monitoring region R is preferably set
such that other part than the lower travelling body 10 is as wide
as possible. The monitoring region R is preferably set such that a
range detectable by the obstacle detection section 50 can be made
use of as much as possible.
(Change of Monitoring Region R)
The control section 41 shown in FIG. 2 changes the monitoring
region R based on the turn angle .alpha. (see FIG. 5). The control
section 41 changes the monitoring region R such that at whichever
turn angle .alpha., the lower travelling body 10 (see FIG. 1) is
not included in the monitoring region R. In other words, the
control section 41 changes the monitoring region R such that at
whichever turn angle .alpha., the lower travelling body 10 is
excluded from the monitoring region R. As shown in FIGS. 5, 7, and
9, the control section 41 (see FIG. 2, the same hereinafter with
respect to the control section 41) changes an angle of view .beta.
to thereby changing the monitoring region R, the angle of view
.beta. indicating a range of an image obtained by the obstacle
detection section 50. More specifically, by changing a position of
a lower edge of an image obtained by the obstacle detection section
50, the monitoring region R is changed. The angle of view .beta. is
set individually for each of the left side sensor 51, the right
side sensor 52, and the rear side sensor 53. The control section 41
may change the angle of view .beta., for example, by processing
(image processing etc.) an image obtained by the obstacle detection
section 50 so as to exclude a part of the image from a
determination target and changing a range to be excluded. The
control section 41 shown in FIG. 2 changes the monitoring region R
(see FIG. 5) every time the turn angle .alpha. changes by a
predetermined angle (e.g. one degree, two degrees, or three
degrees). The predetermined angle (i.e. steps) is set (or stored)
at, for example, the storage section 43 in advance.
In other words, the control section includes a monitoring region
changing section which changes the monitoring region such that the
lower travelling body is not included in the monitoring region
based on the turn angle detected by the turn angle detection
section.
(Determination of Monitoring Region R Based on Monitoring Region
Data RD)
The storage section 43 stores the plurality of monitoring region
data pieces RD in advance. For example, the storage section 43
stores the plurality of monitoring region data pieces RD at the
time of factory shipment of the construction machine 1 (see FIG.
1). The plurality of monitoring region data pieces RD are data for
determining the monitoring region R (see FIG. 1). In other words,
the plurality of monitoring region data pieces RD include data for
determining the left side monitoring region R1, data for
determining the right side monitoring region R2, and data for
determining the rear side monitoring region R3. The plurality of
monitoring region data pieces RD are data which define a
relationship between the turn angle .alpha. and the monitoring
region R. For example, in a case where every time the turn angle
.alpha. changes by one degree, the control section 41 changes the
monitoring region R, the storage section 43 stores the plurality of
monitoring region data pieces for 360 degrees in advance. The
plurality of monitoring region data pieces RD are set based on a
structure (e.g. specifications such a width, a length, and a shape)
of the lower travelling body 10 (see FIG. 1). The plurality of
monitoring region data pieces RD are data related to how the lower
travelling body 10 is seen from the obstacle detection section 50
(see FIG. 1). In other words, in the present embodiment, the
storage section 43 includes, as the plurality of monitoring region
data pieces RD, data related to a position and a range of the lower
travelling body 10 in an image obtained by the left side sensor 51,
data related to a position and a range of the lower travelling body
10 in an image obtained by the right side sensor 52, and data
related to a position and a range of the lower travelling body 10
in an image obtained by the rear side sensor 53. These pieces of
data are stored for predetermined angles, respectively. The control
section 41 reads a monitoring region data piece RD stored in the
storage section 43 based on the turn angle .alpha., and determines
the monitoring region R based on the read monitoring region data
piece RD. Thus, making the controller 40c learn the monitoring
region R (i.e. the monitoring region data RD) in advance results in
using the monitoring region R as off-line information, and as an
internal program.
(Relationship Between Turn Angle .alpha. and Monitoring Region
R)
A specific example of a relationship between the turn angle .alpha.
and the monitoring region R shown in FIG. 1 is as follows. The
relationship between the turn angle .alpha. and the monitoring
region R and a shape of the monitoring region R can be changed.
In a case where the turn angle .alpha. is 0.degree. (including
approximately 0.degree.; the same with respect to the following
numerical values), the monitoring region R (specifically, the left
side monitoring region R1, the right side monitoring region R2, and
the rear side monitoring region R3) is set in such a manner as, for
example, shown in FIGS. 4 and 5. When the turn angle .alpha. is
0.degree. as shown in FIG. 4, the lower travelling body 10 never
travel in the upper slewing body lateral direction Yb. On the other
hand, when the upper slewing body 20 turns around the center of
turn O as a center, the upper slewing body 20 and an obstacle might
contact with each other. Thus, when viewed from the up-down
direction Z, an end portion on the upper slewing body left side Yb1
of the left side monitoring region R1, and an end portion on the
upper slewing body right side Yb2 of the right side monitoring
region R2 are set to be arc-shaped with the center of turn O as a
center (or an approximate center). When viewed from the up-down
direction Z, the rear side monitoring region R3 is set, for
example, to be rectangular, and be a rectangle long in the upper
slewing body lateral direction Yb. Among the left side monitoring
region R1, the right side monitoring region R2, and the rear side
monitoring region R3, two or more regions may overlap (the same
occurs in a case where the turn angle .alpha. is other than
0.degree.). Additionally, the monitoring region R in a case where
the turn angle .alpha. is 180.degree. is set similarly to the
monitoring region R in a case where the turn angle .alpha. is
0.degree..
When the turn angle .alpha. is other than 0.degree. and other than
180.degree., the monitoring region R is set in a manner as shown,
for example, in FIGS. 6 and 7. FIGS. 6 and 7 show an example where
the turn angle .alpha. shown in FIG. 6 is 45.degree.. When the turn
angle .alpha. is other than 0.degree. and other than 180.degree.,
the lower travelling body 10 might travel in the upper slewing body
lateral direction Yb. Therefore, when viewed from the up-down
direction Z, the left side monitoring region R1 and the right side
monitoring region R2 are each set, for example, to be rectangular,
and be a rectangle long in the upper slewing body front-rear
direction Xb. In other words, the left side monitoring region R1
and the right side monitoring region R2 have shapes thereof changed
according to the turn angle .alpha. when viewed from the up-down
direction Z. The control section includes a monitoring region shape
changing section which changes a shape of the monitoring region R
seen from the up-down direction Z according to the turn angle
.alpha.. In a case where the turn angle .alpha. is other than
0.degree. and other than 180.degree., the lower travelling body 10
more largely protrudes in the upper slewing body lateral direction
Yb than the upper slewing body 20 in a case where the turn angle
.alpha. is 0.degree. or 180.degree. (see FIG. 4). Thus, as shown in
FIG. 7, the angle of view .beta. in a case where the turn angle
.alpha. is other than 0.degree. and other than 180.degree. is set
to be narrower than the angle of view .beta. (see FIG. 5) in a case
where the turn angle .alpha. is 0.degree. or 180.degree..
In Step S10 (see FIG. 3), the control section 41 determines whether
the obstacle detection section 50 has detected (or caught) an
obstacle in the monitoring region R shown in FIG. 1 or not (when
expressed in a different way, an obstacle has intruded into the
monitoring region R). Specifically, the control section 41
determines whether an obstacle is present in any of the left side
monitoring region R1, the right side monitoring region R2, and the
rear side monitoring region R3 or not. Presence/absence of an
obstacle in the left side monitoring region R1 is detected by the
left side sensor 51, presence/absence of an obstacle in the right
side monitoring region R2 is detected by the right side sensor 52,
and presence/absence of an obstacle in the rear side monitoring
region R3 is detected by the rear side sensor 53. When the obstacle
detection section 50 detects an obstacle being in the monitoring
region R, the processing proceeds to Step S11 (see FIG. 3). When
the obstacle detection section 50 fails to detect presence of an
obstacle in the monitoring region R, the processing returns to Step
S1 (see FIG. 3).
In Step S11 (see FIG. 3), the control section 41 limits
predetermined operation of the construction machine 1.
"Predetermined operation" is at least one of travelling of the
lower travelling body 10 (hereinafter simply referred to also as
travelling) and turning of the upper slewing body 20 (hereinafter
simply referred to also as turning). At this time, the control
section 41 limits, of the operation of the construction machine 1,
operation which might cause the construction machine 1 and an
obstacle to contact with each other. Limiting of the operation is,
for example, stopping of operation. Limiting of the operation may
be, for example, limiting an operation speed (e.g. limiting to a
low speed) to an extent that prevents normal work. Limiting the
operation may be, for example, limiting an operation force to an
extent that prevents normal work.
In other words, the control section includes an operation limiting
section which limits operation of at least one of travelling of the
lower travelling body and turning of the upper slewing body when
the obstacle detection section detects an obstacle in the
monitoring region.
(Relationship Between Position of Obstacle and Limiting of
Operation)
The control section 41 changes a kind (travelling, turning) of
operation to be limited according to a position in the monitoring
region R from which an obstacle has been detected, and according to
the turn angle .alpha.. The control section 41 changes a kind of
operation to be limited according to from which region of the left
side monitoring region R1, the right side monitoring region R2, and
the rear side monitoring region R3, an obstacle has been detected.
In other words, the control section includes a to-be-limited
operation changing section which changes a kind of operation to be
limited based on a position in the monitoring region from which an
obstacle has been detected, and the turn angle .alpha.. A specific
example of a relationship among the turn angle .alpha., a region
from which an obstacle has been detected, and a kind of operation
to be limited is shown in Table 1. This relationship can be
changed.
TABLE-US-00001 TABLE 1 OPERATION TO BE LIMITED OBSTACLE INTRUDES
OBSTACLE ONTO LOWER INTRUDES OBSTACLE TRAVELLING INTO R1 INTRUDES
ANGLE .alpha. BODY OR R2 INTO R3 0.degree. TURNING, TURNING
TURNING, TRAVELLING BACKWARD TRAVELLING 0.degree. < .alpha. <
90.degree. TURNING, TURNING, TURNING, TRAVELLING TRAVELLING
BACKWARD TRAVELLING 90.degree. TURNING, TURNING, TURNING TRAVELLING
TRAVELLING 900.degree. < .alpha. < 180.degree. TURNING,
TURNING, TURNING, TRAVELLING TRAVELLING BACKWARD TRAVELLING
180.degree. TURNING, TURNING TURNING, TRAVELLING BACKWARD
TRAVELLING 180.degree. < .alpha. < 270.degree. TURNING,
TURNING, TURNING, TRAVELLING TRAVELLING BACKWARD TRAVELLING
270.degree. TURNING, TURNING, TURNING TRAVELLING TRAVELLING
270.degree. < .alpha. < 360.degree. TURNING, TURNING,
TURNING, TRAVELLING TRAVELLING BACKWARD TRAVELLING
In a case where in at least one of the left side monitoring region
R1, the right side monitoring region R2, and the rear side
monitoring region R3 shown in FIG. 1, and an obstacle is present on
the lower travelling body 10, the control section 41 limits turning
and travelling irrespective of the turn angle .alpha..
In a case where at least either one of the left side monitoring
region R1 and the right side monitoring region R2 has an obstacle
(referred to as "case C1"), the control section 41 limits the
operation in a manner as follows. In the above "case C1", when the
turn angle .alpha. is 0.degree. (see FIG. 4) or 180.degree., that
is, when the lower travelling body front side Xa1 and the upper
slewing body front side Xb1 are in the same direction (including
the approximately same direction) or in opposite directions
(including approximately opposite directions), the control section
41 limits turning. In the above "case C1", when the turn angle
.alpha. is other than 0.degree. and other than 180.degree. (see
FIG. 6), the control section 41 limits turning and travelling.
When the rear side monitoring region R3 has an obstacle (referred
to as "case C3"), the control section 41 limits the operation in a
manner as follows. In the above "case C3", when the turn angle
.alpha. is 90.degree. (see FIG. 8) or 270.degree., that is, when
the lower travelling body front side Xa1 and the upper slewing body
front side Xb1 are at right angles (including the approximately
right angles), the control section 41 limits turning. In the above
"case C3", when the turn angle .alpha. is other than 90.degree. and
other than 270.degree. (see e.g. FIG. 6), the control section 41
limits travelling (specifically, backward travelling) and turning
to the upper slewing body rear side Xb2. Backward travelling
includes moving of the upper slewing body 20 diagonally to the
upper slewing body rear side Xb2. Additionally, in a case, for
example, where a plurality of obstacles is present, the obstacles
might be detected in a plurality of regions.
In Step S13 (see FIG. 3), the control section 41 shown in FIG. 2
causes the display section 61 to display video. At this time, the
display section 61 displays video including an obstacle in the
monitoring region R (see FIG. 1). For example, the display section
61 displays infrared video. For example, the display section 61
displays video of a region from which an obstacle has been detected
among the left side monitoring region R1, the right side monitoring
region R2, and the rear side monitoring region R3.
In Step S20 (see FIG. 3), the control section 41 determines whether
from the monitoring region R shown in FIG. 1, an obstacle
disappears or not (when expressed in a different way, the obstacle
detection section 50 fails to detect an obstacle in the monitoring
region R or not). Specifically, the control section 41 determines
whether an obstacle disappears or not from each of the left side
monitoring region R1, the right side monitoring region R2, and the
rear side monitoring region R3. When the obstacle detection section
50 detects an obstacle in the monitoring region R, the processing
returns to Step S1 (see FIG. 3). When the obstacle detection
section 50 fails to detect an obstacle in the monitoring region R
(when expressed in a different way, when the obstacle disappears),
the processing proceeds to Step S21 (see FIG. 3).
In Step S21 (see FIG. 3), the control section 41 releases limiting
of the operation (when expressed in a different way, resets the
function). As a result, the construction machine 1 conducts normal
operation to return to a state where normal work is allowed.
(Change of Specification of Lower Travelling Body 10)
There are some cases where, for example, at an operation site
(construction site, execution site) of the construction machine 1
shown in FIG. 1, specifications of the lower travelling body 10 are
changed. There are, for example, a case where the lower attachment
is attached to the lower main body 11, a case where the lower
attachment is detached from the lower main body 11, and a case
where a kind of the lower attachment is changed. When the
specification of the lower travelling body 10 is changed, how the
lower travelling body 10 is seen from the obstacle detection
section 50 and a distance therebetween are changed. Specifically,
how the lower travelling body 10 is seen from each of the left side
sensor 51, the right side sensor 52, and the rear side sensor 53,
and a distance therebetween are changed. It is therefore necessary
to change the monitoring region R according to presence/absence and
a kind of the lower attachment. Thus, the storage section 43 shown
in FIG. 2 stores the monitoring region data RD in advance with
respect to each of presence/absence and a kind of a structure
attachable to the lower main body 11 (see FIG. 5). In other words,
the storage section 43 stores, as the plurality of monitoring
region data pieces RD, data in a case where no structure is
attached to the lower main body 11, and data according to a kind of
a structure attached to the lower main body 11. When expressed in a
different way, the storage section 43 stores the plurality of
monitoring region data pieces RD according to the specifications of
the lower travelling body 10. The storage section 43 stores a
plurality of monitoring region data pieces RD in advance. Then, the
operator inputs information of the lower attachment to an input
device (not shown). This causes the control section 41 to select
the monitoring region data piece RD according to the input
information of the lower attachment from among the plurality of
monitoring region data pieces RD. As a result, the relationship
between the turn angle .alpha. and the monitoring region R after
the change of the specification of the lower travelling body 10
shown in FIG. 1 is automatically determined (when expressed in a
different way, defined or updated).
(Calibration)
It is assumed, for example, that a specification of the lower
travelling body 10 is changed at, for example, an operation site of
the construction machine 1, and the plurality of monitoring region
data pieces RD (see FIG. 2) corresponding to the lower travelling
body 10 whose specification has been changed is not stored in the
storage section 43 (see FIG. 2). It is assumed, for example, that
the plurality of monitoring region data pieces RD corresponding to
a structure whose structure data are not present in a manufacturer
of the construction machine 1, and the plurality of monitoring
region data pieces RD corresponding to a structure having a
peculiar specification are not stored in the storage section 43. In
such a case, calibration is conducted in the following manner for
obtaining the plurality of monitoring region data pieces RD
corresponding to the lower travelling body 10 after the change of
the specification.
While causing the upper slewing body 20 to make one turn, the
control section 41 causes the obstacle detection section 50 to
detect the lower travelling body 10. The turn angle .alpha. at the
start of turning may not necessarily be 0.degree.. This calibration
is preferably conducted in a state where no obstacle is present
around the construction machine 1, and additionally, it is
preferably conducted at a place where the ground is as flat as
possible. At this time, the control section 41 generates the
plurality of monitoring region data pieces RD (see FIG. 2)
according to a position of the lower travelling body 10 detected by
the obstacle detection section 50. In more detail, the monitoring
region data RD is generated by which the lower travelling body 10
is not included in the monitoring region R at whichever turn angle
.alpha.. Then, the control section 41 causes the storage section 43
(see FIG. 2) to store the generated monitoring region data RD.
In other words, the control section includes a monitoring region
data generating section which generates the monitoring region data
by causing the obstacle detection section to detect the lower
travelling body while causing the upper slewing body to make one
turn, and which causes the storage section to store the generated
monitoring region data.
As described in the foregoing, the construction machine 1 includes
the lower travelling body 10, the upper slewing body 20, and the
control section 41, the turn angle detection section 45, and the
obstacle detection section 50 shown in FIG. 2. As shown in FIG. 1,
the upper slewing body 20 is turnable with respect to the lower
travelling body 10. The control section 41 (see FIG. 2) controls
travelling of the lower travelling body 10, and turning of the
upper slewing body 20 with respect to the lower travelling body 10.
The turn angle detection section 45 (see FIG. 2) detects the turn
angle .alpha. of the upper slewing body 20 with respect to the
lower travelling body 10 and inputs the detection result to the
control section 41 (see FIG. 2). The obstacle detection section 50
is attached to the upper slewing body 20 to detect an obstacle and
input a detection result to the control section 41 (see FIG.
2).
Then, the construction machine 1 has such a characteristic
configuration as follows.
[Configuration 1-1]
The control section 41 (see FIG. 2) determines, as a monitoring
region R, a region in which an obstacle is to be monitored and
which fails to include the lower travelling body 10. In other
words, the control section includes a monitoring region
determination section which determines, as a monitoring region, a
region in which an obstacle is to be monitored and which fails to
include a lower travelling body.
[Configuration 1-2]
The control section 41 shown in FIG. 2 changes the monitoring
region R shown in FIG. 5 based on the turn angle .alpha. detected
by the turn angle detection section 45 such that the lower
travelling body 10 is not included in the monitoring region R. In
other words, the control section includes the monitoring region
changing section which changes a monitoring region based on a turn
angle detected by the turn angle detection section such that the
lower travelling body is not included in the monitoring region.
[Configuration 1-3]
When the obstacle detection section 50 detects an obstacle in the
monitoring region R, the control section 41 (see FIG. 2) limits at
least one operation of travelling of the lower travelling body 10
and turning of the upper slewing body 20. In other words, the
control section includes the operation limiting section which
limits at least one operation of travelling of the lower travelling
body and turning of the upper slewing body when the obstacle
detection section detects an obstacle in the monitoring region.
Since the construction machine 1 is provided with the above
[Configuration 1-1] and [Configuration 1-2], even when the turn
angle .alpha. shown in FIG. 1 changes, the lower travelling body 10
is not determined as an obstacle in the monitoring region R. As a
result, the construction machine 1 enables a problem of erroneously
limiting at least one operation of travelling and turning to be
suppressed (as to limitation, see [Configuration 1-3]). In other
words, it is possible to prevent work by the construction machine 1
from being unnecessarily interrupted during the work. Additionally,
the construction machine 1 includes the above [Configuration 1-2].
Accordingly, when the turn angle .alpha. changes, the monitoring
region R can be narrowed and the monitoring region R can be
widened. In a case where the monitoring region R is widened when
the turn angle .alpha. changes, the construction machine 1
suppresses narrowing of the monitoring region R more than
necessary. Accordingly, even when the turn angle .alpha. changes,
the construction machine 1 suppresses erroneous determination of
the lower travelling body 10 as an obstacle, and even when the turn
angle .alpha. changes, it is possible to detect an obstacle being
present in the vicinity of the lower travelling body 10.
Additionally, the construction machine 1 has such a characteristic
configuration as follows in addition to the above characteristic
configuration.
[Configuration 2]
The construction machine 1 includes the storage section 43 (see
FIG. 2). The storage section 43 stores the plurality of monitoring
region data pieces RD (see FIG. 2) in advance as data for
determining the monitoring region R. The control section 41 shown
in FIG. 2 reads the monitoring region data piece RD stored in the
storage section 43 based on the turn angle .alpha. detected by the
turn angle detection section 45 to determine the monitoring region
R (see FIG. 1) based on the read monitoring region data piece RD.
In other words, the monitoring region determination section
provided in the control section reads the monitoring region data
piece stored in the storage section based on a turn angle detected
by the turn angle detection section to determine a monitoring
region based on the read monitoring region data piece.
The construction machine 1 provided with the above [Configuration
2] is capable of suppressing a computation amount of the control
section 41 for determining the monitoring region R according to the
turn angle .alpha. shown in FIG. 1. Specifically, for example, it
is not necessary for the control section 41 to determine by
computation, while causing the obstacle detection section 50 to
constantly detect the lower travelling body 10, the monitoring
region R that fails to include the detected lower travelling body
10. Additionally, an amount of data transmitted and received
between devices for determining the monitoring region R according
to the turn angle .alpha. can be suppressed. As a result of
suppression of a computation amount and a data amount, control
response by the control section 41 (see FIG. 2) can be improved.
For example, in a case where an obstacle suddenly intrudes into the
monitoring region R, operation of the construction machine 1 can be
quickly limited (when expressed in a different way, time-lag at the
time of limiting operation of the construction machine 1 can be
suppressed).
Additionally, the construction machine 1 has such a characteristic
configuration as follows in addition to the above characteristic
configurations.
[Configuration 3]
The storage section 43 (sec FIG. 2) stores the plurality of
monitoring region data pieces RD (see FIG. 2) in advance with
respect to each of presence/absence and a kind of a structure
(lower attachment) attachable to the lower main body 11 of the
lower travelling body 10 shown in FIG. 5. In other words, the
storage section 43 stores, as the plurality of monitoring region
data pieces RD, data in a case where no structure is attached to
the lower main body 11, and data according to a kind of a structure
attached to the lower main body 11. When expressed in a different
way, the storage section 43 stores the plurality of monitoring
region data pieces RD according to the specifications of the lower
travelling body 10.
The construction machine 1 provided with the above [Configuration
3] obtains such effect as described above (i.e. the effect of
suppressing a computation amount of the control section 41 for
determining the monitoring region R according to the turn angle
.alpha. shown in FIG. 1) even when the lower attachment is attached
to the lower main body 11 or when a kind of the lower attachment is
changed. As a result, the construction machine 1 is allowed to
easily cope with a change of the specifications of the lower
travelling body 10.
Additionally, the construction machine 1 has such a characteristic
configuration as follows in addition to the above characteristic
configurations.
[Configuration 4]
The control section 41 (see FIG. 2) generates the plurality of
monitoring region data pieces RD shown in FIG. 2 by causing the
obstacle detection section 50 to detect the lower travelling body
10 while causing the upper slewing body 20 shown in FIG. 1 to make
one turn, and causes the storage section 43 to store the generated
monitoring region data pieces RD. In other words, the control
section 41 includes the monitoring region data generating section
which generates the plurality of monitoring region data pieces RD
by causing the obstacle detection section 50 (the left side sensor
51, the right side sensor 52, and the rear side sensor 53) to
detect the lower travelling body 10 while causing the upper slewing
body 20 to make one turn, and causes the storage section 43 to
store the generated monitoring region data pieces RD.
Even when the data related to the lower travelling body 10 (see
FIG. 1) not stored in advance in the storage section 43 are used,
the construction machine 1 provided with the above [Configuration
4] is allowed to easily store the plurality of monitoring region
data pieces RD, resulting in obtaining such effect as described
above (i.e. the effect of suppressing a computation amount of the
control section 41 for determining the monitoring region R
according to the turn angle .alpha. shown in FIG. 1). As a result,
the construction machine 1 is allowed to cope with change of a
specification of the lower travelling body 10 as circumstances
demand (when expressed in a different way, the construction machine
1 is allowed to have high robustness against the change of the
specification of the lower travelling body 10).
Additionally, the construction machine 1 has such a characteristic
configuration as follows in addition to the above characteristic
configurations.
[Configuration 5]
The control section 41 changes the monitoring region R by changing
the angle of view .beta. of the obstacle detection section 50 shown
in FIG. 5. In other words, the monitoring region changing section
provided in the control section changes a monitoring region by
changing an angle of view of the obstacle detection section.
The construction machine 1 is provided with the above
[Configuration 5]. Accordingly, the construction machine 1 is
allowed to suppress a computation amount and a data amount for
changing the monitoring region R as compared with a case, for
example, where without changing the angle of view .beta., the
monitoring region R is changed by execution, by the control section
41 (see FIG. 2), of computation for excluding a part where the
lower travelling body 10 is present from the detection-allowed
region D.
Second Embodiment
With respect to a construction machine 201 of a second embodiment,
differences from the above embodiment will be described with
reference to FIGS. 10 to 14. Of the construction machine 201 of the
second embodiment, common parts to those of the first embodiment
are given the same reference codes as those of the first embodiment
to omit description thereof (omission of description of common
parts is also the case with description of a third embodiment).
While in the first embodiment, the monitoring region R is changed
by changing the angle of view .beta. of the obstacle detection
section 50 shown in FIG. 5, in the present embodiment, with the
angle of view .beta. of the obstacle detection section 50 shown in
FIG. 11 fixed, the monitoring region R is changed by changing an
excluded region E.
The control section 41 (see FIG. 2) determines, as the monitoring
region R, a region obtained by excluding the excluded region E
(when expressed in a different way, subtracting) from the
detection-allowed region D of the obstacle detection section 50
shown in FIG. 10. Of the detection-allowed region D, a region where
the lower travelling body 10 is present is the excluded region E.
Additionally, as shown in FIG. 11, in the detection-allowed region
D, a part to which light radiated by the obstacle detection section
50 fails to reach due to blocking by the lower travelling body 10
is the excluded region E. In FIGS. 10 to 13, the excluded region B
is hatched with chain double-dashed lines. For example, the control
section 41 (see FIG. 2) excludes the excluded region E from the
detection-allowed region D shown in FIG. 10 by image processing.
For example, the control section 41 changes the monitoring region R
by changing the excluded region E based on the turn angle .alpha..
For example, the storage section 43 stores the excluded region E
for each turn angle .alpha. in advance. The data related to
excluded region E stored in the storage section 43 are included in
the plurality of monitoring region data pieces RD (i.e. data
related to the monitoring region R). With the monitoring region R
determined in advance which is obtained by excluding the excluded
region E from the detection-allowed region D, the plurality of
monitoring region data pieces RD related to the determined
monitoring region R may be stored in the storage section 43 in
advance (the same manner as in the first embodiment).
A graph related to a ranging point P in the monitoring region R
shown in FIGS. 10 to 13 is shown in FIG. 14. This graph illustrates
that the ranging point P has no obstacle. In this graph, the
ordinate represents a distance (the closest distance) from the
obstacle detection section 50 shown in FIG. 10 (in the example
shown in FIG. 10, the left side sensor 51) to an object closest to
the obstacle detection section 50. The abscissa of the graph shown
in FIG. 14 represents the turn angle .alpha. (see FIG. 12). As
shown in FIGS. 10 and 11, when the obstacle detection section 50
detects the ground at the ranging point P, the closest distance is
a distance A (a ground detection distance, see FIG. 14) from the
obstacle detection section 50 to the ground. As shown in FIGS. 12
and 13, when the obstacle detection section 50 detects the lower
travelling body 10 at the ranging point P, the closest distance is
a distance B (a lower travelling body detection distance, see FIG.
14) from the obstacle detection section 50 to the lower travelling
body 10. As can be found in the graph shown in FIG. 14, when the
turn angle .alpha. changes, the closest distance changes from the
distance A to the distance B, or the closest distance changes from
the distance B to the distance A. In the graph, a hatched part
corresponds to the closest distance included in the monitoring
region R (see FIG. 10), and a part not hatched corresponds to the
closest distance not included in the monitoring region R.
When an obstacle is present (when expressed in a different way, the
obstacle has intruded) in the ranging point P (see FIG. 10), the
closest distance is reduced (when expressed in a different way,
becomes short) as compared with a case where no obstacle is present
in the ranging point P. Specifically, for example, with the turn
angle .alpha. being 0.degree., the closest distance when no
obstacle is present at the ranging point P (see FIG. 11) is the
distance A, and the closest distance when an obstacle is present at
the ranging point P becomes shorter than the distance A. For
example, with the turn angle .alpha. being 45.degree., the closest
distance when no obstacle is present at the ranging point P (see
FIG. 13) is the distance B, and the closest distance when an
obstacle is present at the ranging point P becomes shorter than the
distance B. The graph is a schematic diagram in which, for example,
irregularities of the lower travelling body 10 are ignored.
The construction machine 201 of the present embodiment shown in
FIG. 10 has such a characteristic configuration as follows.
[Configuration 6]
The angle of view .beta. (see FIG. 11) of the obstacle detection
section 50 is fixed. The control section 41 determines, as the
monitoring region R, a region obtained by excluding the excluded
region E where the lower travelling body 10 is present from the
detection-allowed region D from which the obstacle detection
section 50 is allowed to detect an object. In other words, the
monitoring region determination section determines, as a monitoring
region, a region obtained by excluding an excluded region where the
lower travelling body is present from a detection-allowed region
from which the obstacle detection section is allowed to detect an
obstacle. The control section 41 shown in FIG. 2 changes the
monitoring region R by changing the excluded region E shown in FIG.
12 based on the turn angle .alpha. detected by the turn angle
detection section 45. In other words, the monitoring region
changing section provided in the control section changes a
monitoring region by changing an excluded region based on a turn
angle detected by the turn angle detection section.
The construction machine 201 provided with the above [Configuration
6] is allowed to widen the monitoring region R in the vicinity of
the lower travelling body 10 more easily as compared with a case
where the monitoring region R is changed only by changing the angle
of view .beta. (see FIG. 11). Accordingly, the construction machine
201 is allowed to detect an obstacle in the vicinity of the lower
travelling body 10 more easily as compared with a case where the
monitoring region R is changed only by changing the angle of view
.beta., that is, as compared with the construction machine 1.
Third Embodiment
With respect to a construction machine 301 of a third embodiment,
differences from the first embodiment will be described with
reference to FIG. 15. In the construction machine 1 (i.e. a
conventional machine) of the first embodiment shown in FIG. 1, when
the upper slewing body 20 turns, when seen from the up-down
direction Z, the end portion on the upper slewing body rear side
Xb2 of the upper slewing body 20 protrudes from either the right or
left crawler 13. On the other hand, in the construction machine 301
(i.e. a rear small slewing machine) of the present embodiment shown
in FIG. 15, when the upper slewing body 20 turns, when seen from
the up-down direction Z, the end portion on the upper slewing body
rear side Xb2 of the upper slewing body 20 does not protrude (or
hardly protrude) from either the right or left crawler 13.
Therefore, provision of the left side sensor 51 and the right side
sensor 52 shown in FIG. 1 may not necessarily be required. In the
construction machine 301 shown in FIG. 15, the left side sensor 51
and the right side sensor 52 may be provided for, for example,
detecting an obstacle on the lower travelling body 10.
(Modification)
Arrangement and shapes of the respective components of the above
embodiments may be changed. Connection and the like of each
component shown in the block diagram of FIG. 2 may be changed. An
order and the like of each step (processing) of the flow chart
shown in FIG. 3 may be changed.
The components of the embodiments different from each other may be
combined. For example, the monitoring region R may be changed by
changing, when the turn angle .alpha. is changed, the excluded
region E as in the second embodiment, as well as changing the angle
of view .beta. of the obstacle detection section 50 as in the first
embodiment.
A part of the components of the above embodiments and the
modification may not necessarily be provided, and the number of
components may be changed. The obstacle detection section 50 may
not necessarily detect an obstacle on the right and left crawlers
13. "The main body portion" of the lower travelling body 10 may
include not only the lower main body 11 but also a crawler frame
supporting the right and left crawlers 13. To the crawler frame, a
structure may be attached.
In the example shown in FIG. 8, when the upper slewing body
front-rear direction Xb and the lower travelling body front-rear
direction Xa are orthogonal to each other (referred to as "case
C5"), the rear side monitoring region R3 is set. However, in the
above "case C5", when a shape of the end portion on the upper
slewing body rear side Xb2 of the upper slewing body 20 when seen
from the up-down direction Z is an arc-shape (or an approximate
arc-shape) with the center of turn O as a center (or an approximate
center), the rear side monitoring region R3 may not necessarily be
set. In this case, even when an obstacle is present in a region
corresponding to the rear side monitoring region R3, the upper
slewing body rear side Xb2 part of the upper slewing body 20 does
not contact an obstacle.
In the above embodiment, the control section 41 determines the
monitoring region R shown in FIG. 10 based on the monitoring region
data RD (sec FIG. 2) according to the turn angle .alpha.. On the
other hand, the control section 41 may cause the obstacle detection
section 50 to constantly detect the lower travelling body 10 and
determine, by computation, the monitoring region R that fails to
include the detected lower travelling body 10.
This application is based on Japanese Patent application No.
2017-055823 filed in Japan Patent Office on Mar. 22, 2017, the
contents of which are hereby incorporated by reference.
Although the present invention has been fully described by way of
example with reference to the accompanying drawings, it is to be
understood that various changes and modifications will be apparent
to those skilled in the art. Therefore, unless otherwise such
changes and modifications depart from the scope of the present
invention hereinafter defined, they should be construed as being
included therein.
* * * * *